IMUHelper Struct Reference

Public Member Functions
	IMUHelper ()

Public Attributes
noiseModel::Robust::shared_ptr	biasNoiseModel
PreintegratedCombinedMeasurements *	preintegrated
imuBias::ConstantBias	prevBias
NavState	prevState
imuBias::ConstantBias	priorImuBias
NavState	propState
noiseModel::Robust::shared_ptr	velocityNoiseModel

Detailed Description

Definition at line 27 of file ISAM2_SmartFactorStereo_IMU.cpp.

Constructor & Destructor Documentation

IMUHelper::IMUHelper ( )

inline

Definition at line 28 of file ISAM2_SmartFactorStereo_IMU.cpp.

Member Data Documentation

noiseModel::Robust::shared_ptr IMUHelper::biasNoiseModel

Definition at line 90 of file ISAM2_SmartFactorStereo_IMU.cpp.

PreintegratedCombinedMeasurements* IMUHelper::preintegrated

Definition at line 94 of file ISAM2_SmartFactorStereo_IMU.cpp.

imuBias::ConstantBias IMUHelper::prevBias

Definition at line 93 of file ISAM2_SmartFactorStereo_IMU.cpp.

NavState IMUHelper::prevState

Definition at line 91 of file ISAM2_SmartFactorStereo_IMU.cpp.

imuBias::ConstantBias IMUHelper::priorImuBias

Definition at line 88 of file ISAM2_SmartFactorStereo_IMU.cpp.

NavState IMUHelper::propState

Definition at line 92 of file ISAM2_SmartFactorStereo_IMU.cpp.

noiseModel::Robust::shared_ptr IMUHelper::velocityNoiseModel

Definition at line 89 of file ISAM2_SmartFactorStereo_IMU.cpp.

---

The documentation for this struct was generated from the following file:

• ISAM2_SmartFactorStereo_IMU.cpp